Method of controlling irrigation

ABSTRACT

An irrigation control system is disclosed for controlling the irrigation of horticultural plants or crops grown in containers. The system includes a beam assembly for supporting the plant media system and a load cell for providing an electrical output signal proportional to the load applied to the beam assembly by the plant media system. The load cell is interfaced with a microcomputer which executes a control program of the present invention. The control program reads the signal from the load cell at selected intervals and signals for an irrigation event if the current weight of the plant media system is less than a predetermined base weight. A new predetermined base weight is calculated and reset after each irrigation event. In this way, the system bases the initiation of an irrigation event on real time, short term, differential weight change of the plant media system due to evapotranspiration, while allowing for compensation of weight change effects due to other factors such as fruit set, plant weight, pruning and harvesting.

This application is a continuation of application Ser. No. 08/074,777,filed Jun. 10, 1993, now abandoned, which is a division of applicationSer. No. 677,487, filed Mar. 29, 1991, now U.S. Pat. No. 5,241,78.

COPYRIGHT AUTHORIZATION

A portion of the disclosure of this patent document contains materialwhich is subject to copyright protection. The copyright owner has noobjection to the facsimile reproduction by anyone of the patent documentor the patent disclosure, as it appears in the Patent and TrademarkOffice patent file or records, but otherwise reserves all copyrightrights whatsoever.

BACKGROUND OF THE INVENTION

The present invention relates to irrigation control systems and, moreparticularly, to a system and method of initiating an irrigation eventof plants that are grown in containers.

Many horticultural crops are typically grown in containers, such aspots, bags, and rockwool slabs, having growth media, where the roots areconfined to a very limited area. The plants or crops and the growthmedia are generally collectively referred to here as the plant mediasystems. To ensure adequate irrigation, these plants or crops are oftenexcessively irrigated, resulting in a waste of water and fertilizercontained in the water. Excessive irrigation also results in runoffcontaining high amounts of nutrients, such as nitrates and phosphates,and soil applied pesticides, all of which are potential sources ofpollution to the environment. This is of concern, since laws are nowrequiring much stricter control of runoff which may contribute toenvironmental problems.

Many techniques have been utilized in the past to measure moisture inplant media systems to control irrigation, but the hydrauliccharacteristics of most media make the measurement of moisture contentdifficult. In situ sensors utilizing principles of electricalconductivity, thermal diffusivity, soil suction, and microwaveattenuation have been used to measure moisture content in plant mediasystems. However, while theoretically sound, these principles aredifficult to apply in controlling irrigation systems. Furthermore, whileweighing lysimeters have been used to extrapolate weight changes toevapotranspiration, none have been effective in taking into accountextraneous weight changes due to drainage, and hysteresis or the varyingmoisture storage capacity of growing media, and changes in plant weightas a result of fruit set, vegetative growth, pruning, and harvesting. Itis essential to take these factors into account to accurately determineweight change due to evapotranspiration.

Accordingly, there has existed a definite need for an irrigation controlsystem for overcoming these problems and for precisely controllingirrigation based on measured evapotranspiration. There further hasexisted a need for an irrigation control system which allows forcompensation for weight changes due to factors such as fruit set,vegetative growth, pruning and harvesting. The present inventionsatisfies these needs and provides further related advantages.

SUMMARY OF THE INVENTION

The present invention provides an irrigation control system forcontrolling the irrigation of container grown horticultural crops andthe like. The irrigation control system comprises a movable beamassembly for supporting a plant media system and a load sensing meansfor providing electrical output signals proportional to the load appliedto the beam assembly. These signals are then fed to control means forcontrolling and signalling for an irrigation event for the plant mediasystem. The control system is thus designed to control the irrigation ofthe plant media system based on the real time, short-term, weightdifferential of the plant media system between irrigation events.

In accordance with the invention, the control program receives signalsfrom the load sensing means at selected intervals, for example, everyten minutes. If the weight of the plant media system sensed by the loadsensing means falls below a predetermined base weight, then the controlprogram will cause the initiation of an irrigation event to occur andthe plant media system will be irrigated. After each irrigation event,the control program will recalculate and set a new base weight that isequal to the weight of the plant media system after the irrigation eventless a preselected weight value. This preselected weight value may bebased on the amount of water added to the plant media system by eachirrigation event, or it may comprise an acceptable amount of water lossbefore a new irrigation event is required.

Thus, the irrigation control system of the present invention relies onthe real time, short term, differential weight measurements of the plantmedia system to determine when an irrigation event is necessary. Thisreal time, short term weight monitoring allows for the control ofirrigation on the basis of the evapotranspiration of moisture from theplant and plant media system, while compensating for weight changes as aresult of fruit set, vegetative growth, pruning, harvesting, drainageand hysteresis. Consequently, excessive irrigation and fertilization isavoided, as well as excess runoff containing environmentally undesirablepollutants such as nitrates, phosphates, and soil applied pesticides.

In one aspect of the invention, the control program also has safety orback-up features to provide for the initiation of an irrigation event ifthe weight of the plant media system falls below a predeterminedcritical weight limit, or if the computer operations are disruptedcausing the stored base weight to be erased or wiped out of thecomputer's memory, or if the stored base weight is outside reasonableranges or below a predetermined value (for example, less than zero orsome other value as in the case if the computer is disconnected orotherwise loses contact with the load cell.)

In other aspects of the invention, the beam assembly which supports theplant media system comprises an upper beam having one end hinged to alower beam. The top surface of the upper beam supports the plant mediasystem, such as a rockwool slab having containers for the plants orcrops and the necessary growth media, such as soil. In operation, thepivotable upper beam is positioned horizontally over and slightly spacedfrom the lower beam, which is stationary. Changes in the weight of theplant media system are sensed by the load sensing means, which ispreferably positioned on the top surface of the lower beam, in aposition to support the upper beam substantially at its centroid.

Other features and advantages of the present invention will becomeapparent from the following detailed description, taken in conjunctionwith the accompanying drawings, which illustrate, by way of example, theprinciples of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings illustrate the invention. In such drawings:

FIG. 1 is a perspective view of an irrigation control system embodyingthe novel features of the present invention, showing the plant mediasystem supported on a beam assembly and a load cell interfaced with amicrocomputer that executes a control program in accordance with theinvention;

FIG. 2 is a cross-sectional, elevational view of the irrigation controlsystem; and

FIG. 3 is a flow diagram illustrating the logic and operation of thecontrol program used to control irrigation events in the system.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

As shown in the exemplary drawings, the present invention is embodied inan irrigation control system, generally referred to by the referencenumeral 10, for use in controlling the irrigation of horticultural cropsand plants which are grown in containers. With reference to FIGS. 1-2 inparticular, the irrigation control system 10 comprises a beam assembly12 for supporting a plant media system 14. The beam assembly 12 includesa stationary lower beam 16 and a movable upper beam 18 which areconnected together at one end by a hinge 20. In this way, the upper beam18 is permitted to pivot with respect to the lower beam 16. The upperand lower beams preferably are constructed in a box-like manner fromrigid, water and corrosion resistant materials, such as plastic,fiberglass or other suitable materials.

A plant media system 14 is supported on the top surface of the upperbeam. The plant media system 14 includes, for example, greenhouse ornursery type plants 22 grown in soil or other growth media 24. In thepreferred embodiment, the growth media 24 is contained in a so-calledrockwool slab 26, having a plastic bag-like shell 28 for holding thegrowth media. The plants 22 preferably have their own individualcontainers 30 nested in the top of the rockwool slab 26 to allow waterto be directed at the growth media around their roots. The containers 30can be constructed of and contain the same material as the rockwoolslabs. The plants 22 are irrigated through irrigation lines 32. It willbe appreciated that other types and forms of plant media systems can beused, depending on the particular requirements involved.

The weight of the upper beam 18, and the plant media system 14 itcarries, is continuously monitored by a load sensing means 34 in theform of a load cell or other load sensing device positioned on the topsurface of the lower beam 16. In the preferred embodiment, the load cell34 is a standard transducer device which provides an electrical outputsignal representative of the load or weight applied to it by the upperbeam 18 and plant media system 22. The preferred location of the loadcell 34 is substantially at the centroid of the upper beam 18, since theuniformly distributed load on the upper beam can be sensed as theconcentrated force acting at the centroid of the beam. The typicaldeflection of the load cell 34 is approximately 0.002 inches. When theupper beam 18 is pivoted down to the normal operating position on top ofthe load cell 34, as shown in FIG. 2, the load cell is received within arecess 36 in the bottom surface of the upper beam. This arrangementallows the upper beam 18 to assume a substantially horizontal positionwith respect to the lower beam 16. It also allows the space between theupper beam 18 and the lower beam 16 to be minimized, thus preventingdebris from collecting on the top surface of the lower beam. Thehorizontal position of the upper beam 18 also ensures properdistribution of water in the rockwool slab 26 and a relatively uniformand consistent moisture content in the growth media.

Presently, a model no. SSB-100 load cell manufactured by Interface, Inc.has been found suitable for use with the irrigation control system 10 ofthe present invention. This load cell 34 is capable of measuring loadsor mass in increments of grams with good accuracy. However, it should beappreciated that other suitable load cells 34 and load sensing devices,capable of providing an output signal in proportion to an applied weightor load, may be used in the present system.

The foregoing arrangement of the beam assembly 12 advantageouslyprovides a stable weighing platform which allows the upper beam 18 topivot in a generally downward or upward direction upon an increase ordecrease, respectively, of weight from the plant media system 14supported upon the upper beam. The hinge 20 provides stability andprevents excessive off axis rotation of the upper beam 18. Thisparticular arrangement of a hinged beam assembly with a load cell at thecentroid of the upper beam 18 provides an accurate weighing platform andalso greatly reduces costs and maintenance over multiple load cell typestructures typically used in weighing devices.

As noted above, the load cell 34 will provide an electrical outputsignal proportional to the load or weight applied to the beam assembly12 by the plant media system 14. The electrical output signal of theload cell 34 is sent by load cell line 35 to a microcomputer 38 whichreads and processes the signal in accordance with an irrigation controlprogram 40. Specifically, the microcomputer 38 converts the outputsignal from the load cell 34 into digitized data which is capable ofbeing read and interpreted by the control program 40. A Campbell CR7data-logger microcomputer from Campbell Scientific, Inc. has been foundto be adaptable for use in the preferred embodiment of the presentinvention. However, it should be appreciated that other microcomputerscapable of executing various program languages, such as Fortran andBasic, can be adapted for use with the invention.

FIG. 3 illustrates in detail the flow diagram of the control program 40used in the irrigation control system 10 of the present invention. Asshown in FIG. 3, the output signal from the load cell 34, which has beendigitized by the microcomputer 38, is read by the control program 40 todetermine the weight applied to the beam assembly 12 by the plant mediasystem 14. Thus, the current weight of the plant media system 14 can beread by the control program 40 continuously or at specified intervals oftime, such as every ten minutes, as stated in Box 1.

The weight sensed by the load cell and sent to the control algorithm isactually the weight of the upper beam 18 and the plant media system 14.Since the control program 40 relies on differential weight change, andsince the weight of the upper beam 18 remains constant, it is notnecessary to calculate the actual weight of the plant media system 14itself. Thus, for ease of reference, the total weight of the plant mediasystem 14 and upper beam 18 sensed by the load cell 34 is referred to assimply the weight of the plant media system 14. However, the weight ofthe plant media system 14 can be calculated by subtracting the weight ofthe upper beam 18 from the value of weight sensed by the load cell 34.

After the weight of the plant media system 14 has been read, the controlprogram 40 determines if the weight of the plant media system is lessthan a particular critical weight limit. This particular critical weightlimit can be selected as desired, for example, at 14,000 grams ormilliliters as shown in Box 2. (One gram of water is synonymous with onemilliliter of water since the density of water is 1 gram/ml.) Thecritical weight limit generally represents the minimum weight capacity,including the moisture content, of the particular plant media system 14which is being irrigated. A weight reading below the critical weightlimit generally signifies that the moisture content of the plant mediasystem 14 is below critical limits and that the plants 22 or crops inthe system are in danger of wilting or dying. It is important to note,however, that the 14,000 gram weight unit represented in Box 2 isprovided by way of example and illustration only. The particularcritical weight limit will vary depending on the plant media system 14involved and can be readily calculated by one familiar with plant mediasystems, by taking into account such factors as the type of plant orcrop, its size, its moisture or water requirement, and the containersand growth-media used. Once the critical weight value is selected,however, it generally remains unchanged absent operator intervention.

If the weight of the plant media system 14 is below the critical weightlimit, then the control program 40 will set an alarm flag to a value ofone, indicating that a critical condition exists, as shown in Box 3. Thecontrol program 40 will then set irrigation flags to a value of one (Box4), which in turn causes a signal to be sent to initiate an irrigationevent (Box 5). The irrigation event referred to herein consists ofinitiation of the flow of water and/or nutrients via automated valves tothe plant media system 14. The amount of irrigation is monitored byusing a flow meter or equivalent device. The irrigation event isterminated once a preselected quantity of solution sufficient to returnthe quantity of solution depleted from the plant media system 14, plusan additional quantity to account for media leaching or other factors,is dispensed. In the preferred embodiment, a model no. MIR 5000irrigation control computer manufactured by Motorola, Inc. has beenfound to be acceptable for performance of irrigation events. However, itshould be understood that other suitable irrigation control computers ordevices can be used.

After the irrigation event has been completed, the control program 40will continue to read the signal from the load cell 34 every ten minutesto determine the weight of the plant media system 14 (Box 1), andwhether it is above or below the critical weight limit (Box 2).

If the weight of the plant media system 14 is not less than the criticalweight limit, the control program 40 sets an alarm flag to the value ofzero, as shown in Box 6. An alarm flag value of zero indicates that acritical condition does not exist, and if it did exist, that it has beencorrected.

With reference to Box 7, the control program 40 then determines whetheran irrigation ("irr") flag value is equal to one. An irrigation flagvalue equal to one signifies that an irrigation event has beeninitiated, as described above, and that a new base weight must bedetermined. If the current weight of the plant media system 14 everfalls below the base weight, an irrigation event will be initiated, asalso discussed below.

The base weight is determined in Box 8 by taking the current weight ofthe plant media system 14 following an irrigation event, as sensed bythe load cell 34, and subtracting from it a predetermined weight. Thispredetermined weight can be based on the amount of irrigation typicallyapplied, or an amount based on an acceptable water loss before a newirrigation event is required. A predetermined lapse of time may occurbefore a new base weight is determined after an irrigation event toallow for drainage or leaching of excess water or solution added duringthe irrigation event. The updated base weight is then stored in thecomputer's memory, as shown in Box 9. The predetermined amount of weightsubtracted from the current weight generally represents the maximumacceptable amount of moisture or water loss from the storage capacity ofthe plant media system 14 before it is desired or necessary to irrigate.Thus, it should be understood that the 500 gram weight unit amountstated in Box 8 is provided by way of example and illustration only.

By way of further example, if the storage capacity of a plant mediasystem 14 is 10,000 grams of water, and a 5% water loss is the maximumacceptable water loss before an irrigation event is required, then thepredetermined weight amount subtracted from the current weight would be500 grams. Accordingly, those of skill in the art will appreciate thatthe invention is adaptable to various plant media systems havingdifferent irrigation requirements, and that the predetermined amountsubtracted from the current weight to update the base weight will dependon factors such as the type of plant, the storage capacity of thecontainer and growth media used, and the amount of moisture required forthe specific plant.

In Box 10, the irrigation flag value is set to zero to indicate that thebase weight has been updated since the last irrigation event. Thecontrol program then continues to read the current weight of the plantmedia system 14, as represented by Box 1.

With reference again to Box 7, if the irrigation flag value is not equalto one, as is the case when the base weight has been updated, asdescribed above, then the control program 40 will determine whether thecurrent weight of the plant media system 14 is less than the baseweight, as illustrated in Box 11. If the current weight is less than thebase weight, then the control program 40 sets the irrigation flag valueequal to one (Box 4) and sends a signal to the irrigation system toinitiate an irrigation event (Box 5). This is the same type ofirrigation event described above when the current weight is below thecritical weight limit of Box 2.

As mentioned above, the irrigation flag value will be set equal to one,in connection with the initiation of the irrigation event resulting fromBox 11. This will cause the control program 40 to update a new baseweight again, as described above in connection with Boxes 8-10.

If the current weight is not less than the base weight, however, asdetermined at Box 11, then the control program 40 will determine whetherthe base weight is equal to, or less-than, a value of zero (or anotherpredetermined value as discussed below), as represented in Box 12. Ifthe value is equal to or less than zero, or another predetermined value,the irrigation flag value is set to one and a signal is sent to initiatean irrigation event in the manner stated above with respect to Boxes4-5. This step of the control program in Box 12 is essentially a safetyor back-up feature in the event that the operation of the computer 38 isdisrupted or the memory is erased or wiped out causing the base weightto be set to a value equal to or less than zero. It is important to notethat in some computer systems the base weight value may be set to someother value if the computer malfunctions or is disrupted in itsoperation. In the Campbell CR7 computer, the value in Box 12 is set toless than or equal to zero if the memory is wiped out or if the computeroperations are disrupted. Thus, depending on the computer used to runthe control program 40, a different value in Box 12 may have to be used.Further, it should be appreciated that the control program 40 can beutilized to accomplish the objectives of the invention without providingfor the back-up system of Box 12.

The control program 40 also has a further backup feature as referred toabove with respect to Box 2. If the current weight of the plant mediasystem 14 is less than the critical weight limit, discussed above, thecontrol program 40 will set the alarm flag (Box 3) and the irrigationflag values (Box 4) equal to one and then signal the initiation of anirrigation event. This process will continue until the current weight isnot less than the critical weight limit, in which case the alarm flagwill be set to zero (Box 6) and the base weight updated (Boxes 8-9).

In operation, the irrigation control system 10 of the present inventionwill typically operate on a cycle through the control program 40 inwhich the current weight of the plant media system 14 will generally begreater than the critical weight limit of Box 2. Under thesecircumstances, when the irrigation flags are not set equal to one (Box7), then the control program 40 will continuously be determining whetherthe current weight, as sensed by the load cell 34, is less than the baseweight (Box 11). This determination will be made every ten minutes (orcan be made continuously or after another preselected time interval),and when the current weight eventually drops below the base weight, anirrigation event will be initiated (Boxes 4-5). After the initiation ofan irrigation event, a new base weight will be calculated (Boxes 8-10),and the cycle will begin once again.

By including a provision to update the base weight after each irrigationevent, and by reading the weight of the plant media system 14 on aperiodic basis, such as every ten minutes, the irrigation control system10 of the present invention utilizes the advantages of real time, shortterm, differential weight measurements of the plant media system todetermine when an irrigation event is necessary. This real time, shortterm weight monitoring allows for the control of irrigation on the basisof the evapotranspiration of moisture from the plant media system 14,while compensating for extraneous (non evapotranspiration) weightchanges as a result of fruit set, vegetative growth, pruning,harvesting, drainage, and hysteresis. Consequently, excessive irrigationand fertilization of the plant media system 14 is avoided. Additionally,excess run off of irrigation and fertilizer containing pollutantspotentially harmful to the environment, such as nitrates, phosphates,and soil applied pesticides, is minimized.

For example, a drastic and rapid decrease in the weight of a plant mediasystem 14 as a result of pruning and harvesting would signal theinitiation of an irrigation event in the irrigation control system ofthe present invention due to the reliance on short term, real time,differential measurement of weight of the plant media system 14. In thissituation, the irrigation control system will set a new base weight andthus compensate for the reduction in weight of the plant media system14.

By way of further example of the advantages provided by the presentinvention, it is generally known that about 99% of the water processedby a plant is used for transpiration, while the remaining 1% is utilizedfor metabolic processes. It is often difficult or impossible usingcurrent weighing or gravimetric analysis to differentiate the amount ofwater used during the metabolic process from the transpiration process.Consequently, when measurements of weight change are made, error indetermining the amount of water lost from the growth media is inherentbecause a small amount of the water removed from the growth media is not"seen" as a weight reduction since it is incorporated into the planttissue. For instance, a plant that shows a daily weight reduction of3000 grams in actuality loses some 3030 grams of available water fromthe growth media since 30 grams is taken up by the plant tissue. Thus,if the plant is irrigated to replace the apparent 3000 grams lost fromthe growth media, the plant would actually be under-irrigated by 30grams a day. Thus, without some correction of the cumulative effect ofthis under-irrigation and weight gain of the plant, a deficit of 3000grams of available water from the growth media would occur after aperiod of 100 days. This condition could result in the death or wiltingof plants which do not have large growth media storage capacities.

The present invention provides a solution to this situation by resettingthe base weight after each irrigation event to compensate for the weightchange of the plant media system. This continual process prevents theaccumulation of error. That is, since differential weights are used, theabsolute weight of the system, excluding critical conditions, isirrelevant. Further, container crops and plants are frequently overirrigated (by as much as 20 to 30%) to provide leaching action whichprevents fertilizer salts build-up. Thus, the irrigation control systemof the present invention contemplates waiting a short period of time fordrainage or leaching to substantially be completed before setting a newbase weight after an irrigation event. This avoids the accumulation oferror in the system due to the excess water added for leaching. Theamount of time allowed to lapse after an irrigation event before settinga new base weight can be predetermined on the basis of the time neededto drain or leach the excess quantity of water or solution added to theplant media system.

The irrigation control system of the present invention also compensatesfor weight changes due to hysteresis or the varying volumetric capacityof the growth media. For example, as the roots of the plants and cropsgrow, they occupy an increasing percentage of the volume of thecontainer holding the plants and growth media. Also, other factors suchas compaction and decomposition of the growth media will affect thevolumetric capacity. However, by setting a new base weight after eachirrigation event, and by relying on short term, real time, differentialmeasurement of the weight of the plant media system 14 to controlirrigation, the resulting effect of hysteresis on the overall weight ofthe plant media will be accounted for.

An irrigation control system program written for the Campbell CR7data-logger microcomputer to implement the control program 40 of thepresent invention in connection with a Motorola MIR 5000 irrigationcontrol computer is set forth as APPENDIX A hereto.

While a particular form of the invention has been illustrated anddescribed, it will be appreciated that various modifications can be madewithout departing from the spirit and scope of the invention. Therefore,it is not intended that the invention be limited, except as by theappended claims.

We claim:
 1. A method of controlling irrigation, comprising the stepsof:placing a plant media system to be irrigated on a movable beamassembly; sensing the weight of the plant media system by a load sensingmeans placed underneath the beam assembly; reading the sensed weight atselected intervals of time by control means for controlling theirrigation of the plant media system; initiating an irrigating eventwhen the weight of the plant media system sensed by the load sensingmeans is less than a predetermined base weight as calculated by thecontrol means; and recalculating the predetermined base weight aftereach irrigation event by subtracting a predetermined weight from theweight of the plant media system sensed following an irrigation event.2. The method of claim 1, wherein the step of recalculating thepredetermined base weight occurs after a predetermined lapse of timefollowing an irrigation event.
 3. The method of claim 1, furthercomprising the step of irrigating the plant media system when the weightof the plant media system sensed by the load sensing means falls below apredetermined critical weight.
 4. The method of claim 1, furthercomprising the step of initiating an irrigating event when thepredetermined base weight is less than a predetermined value.
 5. Themethod of claim 1, further comprising the step of initiating anirrigating event when the predetermined base weight is less than orequal to zero.

    ______________________________________                                        APPENDIX A                                                                    ______________________________________                                                  MODE 02:00                                                                    SCAN RATE +60.000                                                             01:P23                                                                        01:02                                                                         02:P06                                                                        01:01                                                                         02:03                                                                         03:06                                                                         04:14                                                                         05:01                                                                         06:01                                                                         07:01                                                                         08:5000                                                                       09:0250                                                                       10:+1.0000                                                                    11:+0.0000                                                                    03:P86                                                                        01:01                                                                         04:P92                                                                        01:0000                                                                       02:0010                                                                       03:10                                                                         05:P77                                                                        01:0111                                                                       06:P78                                                                        01:01                                                                         07:P70                                                                        01:10                                                                         02:0367                                                                       08:P30                                                                        01:+1.0000                                                                    02:0600                                                                       09:P30                                                                        01:+1.0000                                                                    02:0600                                                                       10:P30                                                                        01:+1.0000                                                                    02:0600                                                                       11:P30                                                                        01:+1.0000                                                                    02:0600                                                                       12:P30                                                                        01:+1.0000                                                                    02:0600                                                                       13:P30                                                                        01:+0.0000                                                                    02:0366                                                                       14:P92                                                                        01:0000                                                                       02:0010                                                                       03:30                                                                         15:P87                                                                        01:00                                                                         02:0010                                                                       16:P32                                                                        01:0366                                                                       17:P89                                                                        01:0387- -                                                                    02:02                                                                         03:+0.0000                                                                    04:10                                                                         18:P77                                                                        01:0111                                                                       19:P70                                                                        01:01                                                                         02:0366                                                                       20:P70                                                                        01:01                                                                         02:0387- -                                                                    21:P70                                                                        01:01                                                                         02:0367- -                                                                    22:P77                                                                        01:0010                                                                       23:P30                                                                        01:+1.0000                                                                    02:0600                                                                       24:P89                                                                        01:0403- -                                                                    02:02                                                                         03:+0.0000                                                                    04:10                                                                         25:P77                                                                        01:0111                                                                       26:P70                                                                        01:01                                                                         02:0366                                                                       27:P70                                                                        01:01                                                                         02:0403- -                                                                    28:P70                                                                        01:01                                                                         02:0367- -                                                                    29:P77                                                                        01:0010                                                                       30:P30                                                                        01:+1.0000                                                                    02:0600                                                                       31:P95                                                                        32:P78                                                                        01:00                                                                         33:P95                                                                        34:P92                                                                        01:0000                                                                       02:0002                                                                       03:30                                                                         35:P87                                                                        01:00                                                                         02:0010                                                                       36:P30                                                                        01:+0.0000                                                                    02:0419- -                                                                    37:P95                                                                        38:P29                                                                        01:01                                                                         02:02                                                                         03:00                                                                         04:04                                                                         05:0419                                                                       39:P95                                                                        40:P92                                                                        01:0000                                                                       02:0010                                                                       03:30                                                                         41:P30                                                                        01:+0.0000                                                                    02:0414                                                                       42:P87                                                                        01:00                                                                         02:0010                                                                       43:P30                                                                        01:+0.0000                                                                    02:0403- -                                                                    44:P89                                                                        01:0387- -                                                                    02:02                                                                         03:+0.0000                                                                    04:30                                                                         45:P34                                                                        01:0367- -                                                                    02:-500.00                                                                    03:0377- -                                                                    46:P30                                                                        01:+0.0000                                                                    02:0387- -                                                                    47:P95                                                                        48:P89                                                                        01:0377                                                                       02:01                                                                         03:+0.0000                                                                    04:30                                                                         49:P30                                                                        01:+1.0000                                                                    02:0403- -                                                                    50:P95                                                                        51:P89                                                                        01:0377- -                                                                    02:04                                                                         03:+0.0000                                                                    04:30                                                                         52:P30                                                                        01:+1.0000                                                                    02:0403- -                                                                    53:P95                                                                        54:P88                                                                        01:0367- -                                                                    02:04                                                                         03:0377- -                                                                    04:30                                                                         55:P30                                                                        01:+1.0000                                                                    02:0387- -                                                                    56:P95                                                                        57:P89                                                                        01:0367- -                                                                    02:04                                                                         03:+14000.                                                                    04:30                                                                         58:P30                                                                        01+1.0000                                                                     02:0403- -                                                                    59:P95                                                                        60:P89                                                                        01:0403- -                                                                    02:02                                                                         03:+0.0000                                                                    04:30                                                                         61:P30                                                                        01:+1.0000                                                                    02:0414                                                                       62:P30                                                                        01:+1.0000                                                                    02:0387- -                                                                    63:P95                                                                        64:P95                                                                        65:P89                                                                        01:0414                                                                       02:02                                                                         03:+1.0000                                                                    04:30                                                                         66:P30                                                                        01:+1.0000                                                                    02:0413                                                                       67:P94                                                                        68:P30                                                                        01:+0.0000                                                                    02:0413                                                                       69:P95                                                                        70:P89                                                                        01:0415                                                                       02:02                                                                         03:+0.0000                                                                    04:30                                                                         71:P30                                                                        01:+0.0000                                                                    02:0415                                                                       72:P94                                                                        73:P30                                                                        01:+1.0000                                                                    02:0415                                                                       74:P95                                                                        75:P29                                                                        01:02                                                                         02:02                                                                         03:00                                                                         04:04                                                                         05:0387                                                                       76:P95                                                                        MODE 03:00                                                                    01:P85                                                                        01:01                                                                         02:P06                                                                        01:10                                                                         02:02                                                                         03:06                                                                         04:01                                                                         05:04                                                                         06:01                                                                         07:10                                                                         08:1667                                                                       09:0367                                                                       10:+1.0000                                                                    11:+0.0000                                                                    03:P53                                                                        01:0367                                                                       02:+15895.                                                                    03:+0.0000                                                                    04:+15440.                                                                    05:+0.0000                                                                    06:+15204.                                                                    07:+0.0000                                                                    08:+14807.                                                                    09:+0.0000                                                                    04:P53                                                                        01:0371                                                                       02:+15402.                                                                    03:+0.0000                                                                    04:+14706.                                                                    05:+0.0000                                                                    06:+15270.                                                                    07:+0.0000                                                                    08:+15207.                                                                    09:+0.0000                                                                    05:P53                                                                        01:0375                                                                       02:+15379.                                                                    03:+0.0000                                                                    04:+15759.                                                                    05:+0.0000                                                                    06:+1.0000                                                                    07:+0.0000                                                                    08:+1.0000                                                                    09:+0.0000                                                                    06:P95                                                                        07:P00                                                                        MODE 04:00                                                                    MODE 10                                                                       01:0600                                                                       02:2000                                                             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